KR20170114483A - Apparatus for providing navigation performance of ship and method for providing navigation performance using the same - Google Patents

Abstract

The present invention relates to a navigation performance providing device for a ship capable of intuitively determining whether or not a ship can be straightened by selecting and providing a maximum permissible steering angle of a rudder capable of straight traveling when a rudder of a pair of rudders fails, The present invention relates to a method of providing navigation performance.
According to an embodiment of the present invention, another controller for controlling a pair of rudders installed at the stern of a ship; And a simulator for receiving the status information of the rudder operated under the control of the other controller and selecting and providing a maximum allowable steering angle of the rudder that can be operated in a straight line when there is one failed rudder without change of the steering angle for a predetermined time And a navigation device for providing navigation performance of the ship.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a navigation performance providing device for a ship and a navigation performance providing method using the navigation performance providing device.

The present invention relates to a navigation performance providing apparatus for a ship and a navigation performance providing method using the same. More particularly, the present invention provides a navigation system capable of selecting a maximum allowable steering angle of a rudder capable of traveling straight ahead when one rudder among a pair of rudders fails The present invention relates to a navigation performance providing apparatus for a ship capable of intuitively determining whether or not a ship can be straightened, and a navigation performance providing method using the same.

Generally, a rudder (rudder) is used as a means for adjusting the traveling direction of a ship. This rudder operates on the principle of adjusting the direction of the ship by using the vertical component of the lift acting on it when it has the angle of attack (angle of water entering) in the state of being placed in the flow of water.

Among the performances required for the rudder, it is known that it is possible to generate a large lift, that the influence of the increase in the angle of attack is not greatly affected by the speed, and that the change of the position of the lift force point is small even when the angle of attack is greatly changed have.

These rudders were equipped with a single rudder at the stern to change the direction of the hull during navigation, but as the size of the vessel became larger, two propellers were installed and a pair of rudders were installed at the stern to change the direction of the hull.

However, in the case of a ship propelled by a pair of rudder and propeller, there is no way to assess the stability of the ship when a rudder breaks down or to inform the operator of the condition of the ship in operation, In this case, a navigation support device is required.

Korean Patent Publication No. 2009-0105330 (2009.10.07) "Data Processing Method for Ship Maneuvering Simulator"

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for selecting a maximum allowable steering angle of a rudder capable of straight traveling on the basis of a speed, an acceleration and a movement amount of a ship obtained through a force received by a ship when one rudder of a pair of rudders fails, And a navigation performance providing method using the navigation performance providing apparatus.

According to an aspect of the present invention, there is provided a control system for a vehicle, comprising: a controller for controlling a pair of rudders installed at a stern of a ship; And a simulator for receiving the status information of the rudder operated under the control of the other controller and selecting and providing a maximum allowable steering angle of the rudder that can be operated in a straight line when there is one failed rudder without change of the steering angle for a predetermined time And a navigation device for providing navigation performance of the ship.

The simulator calculates the yaw moment of the ship and the longitudinal and lateral forces of the ship while changing the permissible angle of the rudder to a predetermined angle at predetermined time intervals to calculate the acceleration of the ship, And the maximum permissible steering angle with which the ship can travel straight ahead can be selected based on the green moving locus.

In addition, the navigation performance providing apparatus of a ship according to an embodiment of the present invention further includes a sensor installed on the ship for measuring a marine environment, and the simulator further reflects environment information measured through the sensor, It is possible to calculate the longitudinal and lateral forces and the yaw moment of the ship.

The simulator may calculate the forward distance, the travel distance, and the tactical diameter of the ship when the steering angle of the failed rudder is within the maximum allowable steering angle, and output the calculation result on the display unit.

The simulator may calculate an instruction angle for straight forward operation of the ship within the forward distance, the movement distance, and the tactical diameter, and provide the command to the other controller.

The simulator may output notification information indicating that the ship can not be straightened when the steering angle of the failed rudder deviates from the maximum allowable steering angle.

According to another embodiment of the present invention, there is provided an information processing apparatus comprising: a receiver for receiving status information of a rudder from another controller for controlling a pair of rudders installed at the stern of a ship; A determination unit for determining whether there is a failure rudder that does not change the steering angle for a predetermined time based on the rudder status information received from the other controller; The control unit may calculate the yaw moment of the ship and the longitudinal and transverse forces received by the ship while changing the allowable angle of the rudder preset to a predetermined angle when there is one rudder as a result of the determination, A calculation unit for calculating a speed and a movement amount; A selection unit configured to select a maximum allowable steering angle of the rudder that can be operated in a straight line based on a moving trajectory generated through acceleration, speed and movement amount of the ship calculated by the calculation unit; And a providing unit for providing the straight running performance of the ship by comparing the rudder angle of the rudder and the maximum allowable steering angle.

According to another embodiment of the present invention, there is provided a method for controlling a rudder, comprising the steps of: receiving a status information of a rudder from another controller for controlling a pair of rudders provided at the stern of a ship; Determining whether a faulty rudder exists without change of the steering angle for a predetermined time based on state information of the ruder received from the other controller; Wherein the simulator changes a permissible angle of a rudder preset to a predetermined angle when there is a single rudder as a result of the determination, and determines a yaw moment of the ship, Calculating an acceleration, a speed and a movement of the ship; Selecting a maximum allowable steering angle of a rudder capable of straight traveling based on a movement locus generated through an acceleration, a speed and a movement amount of the ship calculated by the calculating step; And providing the navigation performance of the ship by comparing the rudder angle of the malfunctioning rudder with the maximum allowable steering angle of the ship to provide the navigation performance of the ship .

In another aspect of the present invention, there is provided a navigation performance providing method using a navigation performance providing apparatus of a ship, wherein the simulator comprises: And the calculating step may calculate the longitudinal and lateral forces of the ship and the yaw moment of the ship by reflecting the received environment information.

The providing step may include outputting the forward distance, the travel distance, and the tactical diameter of the ship calculated on the basis of the acceleration, the speed and the movement amount of the ship on the display unit when the steering angle of the failed rudder is located within the maximum allowable steering angle . ≪ / RTI >

The providing step may include providing the other controller with an instruction for advancing the ship within the advancing distance, the moving distance, and the tactical diameter.

The providing step may include outputting notification information indicating that the ship can not go straight when the steering angle of the failed rudder is out of the maximum allowable steering angle.

According to the embodiment of the present invention, when one rudder of a pair of rudders fails, the ship can select the maximum permissible steering angle of the rudder capable of straight-running and evaluate the stability of the ship, There is an effect that can judge by.

Further, according to the embodiment of the present invention, the forward distance, the moving distance and the tactical diameter of the ship are calculated and provided to the display unit based on the acceleration, the speed and the movement amount of the ship calculated through the force received by the ship, It also has the effect of improving the stability of the ship by displaying the forward distance, the moving distance and the tactical diameter of the ship which can be controlled by.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram for explaining a navigation performance providing apparatus according to an embodiment of the present invention; Fig.
Fig. 2 is a block diagram for explaining the simulator shown in Fig. 1,
FIG. 3 is a flow chart for explaining a navigation performance providing method using a navigation performance providing apparatus of a ship according to an embodiment of the present invention;
4 is a graph showing a movement trajectory in which the movement amount of the ship calculated when the steering angle of the failed rudder is 24 degrees,
5 is a graph showing a movement trajectory in which the movement amount of the ship calculated when the steering angle of the failed rudder is 25 degrees,
6 is a graph for explaining the forward distance, the moving distance and the tactical diameter of the ship,
7 is a graph showing the maximum turn radius represented by the forward distance, the travel distance, and the tactical diameter of the ship.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram for explaining an operational performance providing apparatus for a ship according to an embodiment of the present invention, and FIG. 2 is a block diagram for explaining the simulator shown in FIG.

Referring to FIG. 1, an apparatus for providing navigation performance of a ship according to an embodiment of the present invention includes a controller 20 installed in a wheel house (WH) located at the forefront of a ship S and controlling the rudder 10 And the state information of the rudder 10 controlled by the other controller 20 to determine whether or not a rudder is present. If there is a rudder present, the allowable angle of the rudder is changed by a predetermined angle The velocity of the ship and the movement of the ship are calculated by calculating the force and yaw moment of the ship in the longitudinal direction and the lateral direction of the ship and the movement locus of the ship generated using the calculated acceleration, And a simulator (30) for selecting a maximum permissible steering angle of the rudder that can be straight-forwarded based on the vehicle speed.

At this time, a pair of rudders are installed at the stern of the ship. 1, only one rudder 10 installed on one side is shown, but another rudder (not shown) is provided on the opposite side.

The other controller 20 outputs the commanded angle calculated according to the movement scenario of the ship to a pair of rudders (hereinafter referred to as 'first rudder and second rudder') installed on the ship.

The first and second rudders are each provided with a motor (not shown) for rotating the rotary shaft, and a sensing unit (not shown) for sensing the angle of the gear rotated by the motor is provided.

The other controller 20 receives the state information of the first and second ruder sensed by the sensing unit, that is, the steering angle, and provides it to the simulator 30.

Although the first and second rudder and the other controller 20 are illustrated as being connected by wire, it is needless to say that wireless communication between the first and second rudder and the other controller 20 is also possible.

Although the other controller 20 and the simulator 30 are shown as being connected by wire in FIG. 1, the present invention is not limited to this, but may be wirelessly connected.

The simulator 30 determines whether or not the steering angle of the first and second ruder received from the other controller 20 has changed for a predetermined period of time. If any one of the first and second rudder is present for a predetermined time If it is determined that one of the rudders of the first and second rudders, for example, the first rudder, has failed, it is determined whether the rudder angle of the first rudder lies within the above-mentioned maximum allowable rudder angle And if it is located within the maximum allowable steering angle, an instruction steering angle for straight steering is calculated and provided to the second rudder, and if the steering angle of the first rudder exceeds the maximum allowable steering angle described above, Output.

The simulator 30 calculates the forward distance, the travel distance, and the tactical diameter of the ship based on the calculated acceleration of the ship, the speed of the ship, and the movement amount of the ship when the steering angle of the failed rudder is within the maximum allowable steering angle, (40).

In addition, the simulator 30 computes an instruction angle for straight ahead so as not to deviate from the calculated maximum turning radius of the ship, and outputs the calculated command angle to another controller 20. At this time, the other controller 20 applies an instruction steering angle to the rudder in normal operation.

The simulator 30 includes a receiving unit 31, a determining unit 32, a calculating unit 33, a selecting unit 34, and a providing unit 35 as shown in FIG.

The receiving unit 31 receives the steering angles of the first and second rudders installed at the stern of the ship through a wired or wireless communication system with the other controller 20 and controls the first and second rudder Lt; / RTI >

The receiving unit 31 also receives environment information (e.g., wind, algae, waves) measured from the environmental load sensor 25 for measuring the marine environment.

Further, the receiving unit 31 receives the RPM of the propeller installed on the ship. The RPM of this propeller can be used to determine the current speed of the ship.

The determination unit 32 determines whether there is a rudder that has no change in the steering angle for a predetermined time period despite the control command based on the steering angle of the first and second rudders received by the receiving unit 31. [ In this case, when only one rudder fails, the maximum permissible steering angle that can be rectilinearly selected is selected, and if the two rudders are judged to be broken, the notification information is provided so as to stop the operation of the ship.

The determination unit 32 determines whether or not there is a change in the steering angle of the rudder for a predetermined time using the received first and second rudder angles and the first and second rudder command angles controlled by the other controller 20 It is possible to judge whether or not there is a rudder due to whether or not the rudder of the first and second rudders and the steering angle of the command coincide or fall within a certain range.

If the determination unit 32 determines that one rudder among the first and second rudders has failed, the calculation unit 33 calculates the maximum allowable steering angle of the rudder that can be straight ahead.

More specifically, the calculation unit 33 calculates the longitudinal force X received by the ship through the following equation (1) and calculates the lateral force Y received by the ship through the following equation (2) And the yaw moment (N) received by the ship is calculated by the following equation (3).

은 질량이고,

는 종방향의 가속도이고,

는 횡방향의 속도이며,

은 선박의 각속도이다. 종방향의 가속도, 횡방향의 속도 및 선박의 각속도는 선박에 설치된 프로펠러의 RPM과, 러더의 각도, 선체의 정보를 이용하여 계산된 값이다. 선체의 정보는 선박의 흘수, 선박의 수선간 길이, 질량, 종방향 및 횡방향으로 추가된 질량, 선박의 폭 및 방형계수 등을 포함한다.here,

Is a mass,

Is an acceleration in the longitudinal direction,

Is the lateral velocity,

Is the angular velocity of the ship. The longitudinal acceleration, the lateral velocity and the angular velocity of the ship are calculated using RPM of the propeller installed on the ship, angle of the rudder, and hull information. The ship's information includes the ship's draft, the length of the ship's waterline, the mass, the mass added in the longitudinal and transverse directions, the width of the ship, and the squareness factor.

는 횡방향의 가속도이고,

는 종방향의 속도이다. 횡방향의 가속도 및 종방향의 속도는 상술된 바와 같이 프로펠러의 RPM, 러더의 각도, 선체의 정보를 이용하여 계산된 값이다. here,

Is an acceleration in the lateral direction,

Is the longitudinal velocity. The lateral acceleration and the longitudinal velocity are values calculated using RPM of the propeller, angle of the rudder, and hull information as described above.

는 관성 모멘트(mass moment of inertia)이고,

은 선박의 각속도이다.here,

Is the mass moment of inertia,

Is the angular velocity of the ship.

The longitudinal force X received by the ship calculated by the above-described equation (1) is a value obtained by summing up the kinetic energy acting on the hull, the propeller and the rudder, and is calculated by the following equation (4).

는 선체에 작용하는 종방향의 동유체력으로, 하기의 수학식 5에 의해 계산되고,

는 프로펠러에 작용하는 종방향의 동유체력이며,

은 러더에 작용하는 종방향의 동유체력이다.here,

Is the longitudinal kinetic energy acting on the ship and is calculated by the following equation (5)

Is the longitudinal kinetic energy acting on the propeller,

Is the tangential force acting on the rudder.

는 해수의 밀도이며,

는 편류각이다.Where mx, my are the added mass in the longitudinal and transverse directions, Lpp is the waterline length of the ship, T is the ship's draft, U is the speed at which the ship actually moves,

Is the density of seawater,

Is the drift angle.

The lateral force Y received by the ship calculated by the above-described Equation 2 is a value obtained by summing up the kinetic energy of the lateral direction acting on the hull and the rudder, and is calculated by the following Equation 6.

는 선체에 작용하는 횡방향의 동유체력으로, 하기의 수학식 7에 의해 계산되고,

은 러더에 작용하는 횡방향의 동유체력이다.here,

Is the transverse fatigue strength acting on the hull and is calculated by the following equation (7)

Is the tangential force acting in the lateral direction acting on the rudder.

은 선박의 종방향 속도와 횡방향 속도의 곱이다.here,

Is the product of the ship's longitudinal velocity and lateral velocity.

The yaw moment N of the ship calculated by the above-described Equation (3) is a value obtained by summing up the kinetic energy acting on the ship and the rudder, and is calculated by the following Equation (8).

는 선체에 작용하는 동유체력으로, 하기의 수학식 9에 의해 계산되고,

은 러더에 작용하는 동유체력이다.here,

Is the kinetic energy acting on the ship and is calculated by the following equation (9)

Is the kinetic energy acting on the rudder.

는 길이방향 무게중심(LCG)의 위치부터 선박의 중심까지의 거리이다.here,

Is the distance from the position of the longitudinal center of gravity (LCG) to the center of the ship.

Further, the calculation unit 33 further calculates the longitudinal and lateral forces of the ship and the yaw moment of the ship, reflecting the environmental information measured by the environmental load sensor 25.

Further, the calculation unit 33 calculates the acceleration through the longitudinal and lateral forces received by the ship and the yaw moment of the ship through the above-described equations, integrates the acceleration to calculate the velocity, , The moving amount of the ship is calculated while changing the allowable angle of the rudder from -35 degrees to +35 degrees by a predetermined angle, for example, 1 degree.

The selecting unit 34 selects the maximum permissible angle of incidence that can be rectilinearly operated on the basis of the movement trajectory that reflects the calculated acceleration, speed and movement of the ship while changing the allowable angle of the rudder by 1 degree.

FIG. 4 is a graph showing a movement trajectory in which the travel amount of the ship is calculated when the steering angle of the failed rudder is 24 degrees, and FIG. 5 is a graph showing a movement trajectory in which the calculated travel amount of the ship is reflected when the steering angle of the rudder is 25 degrees.

24도로 선정한다.As shown in the graphs of FIGS. 4 and 5, the selector 34 changes the allowable angle of the rudder by a predetermined angle, and calculates the maximum permissible steering angle,

24 roads.

The supplying unit 35 outputs the rudder angle of the rudder of the failed rudder and the maximum permissible angle selected by the selecting unit 34 on the display unit 40 or compares the rudder angle of the failed rudder with the maximum permissible angle, And outputs the notification information. Accordingly, the operator of the ship can intuitively determine whether the ship can travel straight ahead even if one rudder fails.

When the steering angle of the rudder of the rudder is located within the maximum allowable steering angle thus selected, the supplying unit 35 applies the command steering angle to the other controller 20 to enable the forward steering operation. At this time, the command steering angle applied to the other controller 20 may include the identification information of the rudder in normal operation.

In addition, the controller 35 outputs notification information to the controller 40 via the display unit 40 or a speaker (not shown) to notify that the driver can not go straight when the steering angle of the failed rudder exceeds the predetermined maximum allowable steering angle.

On the other hand, when the steering angle of the failed rudder is within the maximum allowable steering angle, the calculation unit 33 calculates the forward distance, the moving distance, and the tactical diameter of the ship on the basis of the acceleration of the ship, the velocity of the ship, The traveling distance ADVANCE of the ship, the moving distance TRANSFER and the tactical diameter are output to the display unit 40 or the calculated forward distance ADVANCE of the ship in the state having the maximum allowable steering angle, (TRANSFER) and a tactical diameter (TACTICAL DIAMETER), and output the result to the display unit (40).

Since the forward distance, the travel distance and the tactical diameter of the ship having the malfunctioning rudder can be known, it can be helped to organize the flight schedule.

A navigation performance providing method using a navigation performance providing apparatus of a ship having such a configuration will now be described with reference to FIG.

FIG. 3 is a flowchart illustrating an operational performance providing method using a navigation performance providing apparatus according to an embodiment of the present invention.

Referring to FIG. 3, the simulator 30 receives status information of a rudder installed on a ship through another controller 20 (S11). A pair of rudders installed at the stern of the ship are controlled by the other controller 20 to change the traveling direction of the ship. At this time, the other controller 20 receives the steering angles of the pair of rudders together with the command angles applied to the pair of rudders, and transmits them to the simulator 30.

The simulator 30 determines whether there is one rudder that has failed based on the rudder status information received from the other controller 20 (S13). In step S13, if the rudder of the pair of rudders and the command angle of the rudder are used to determine that the rudder has no change in the steering angle for a predetermined period of time without a change in the rudder angle, The process moves to step S15, which will be described later. When all of the pair of rudders have failed, notification information is provided so that the operation of the ship is terminated, though not shown in Fig.

If it is determined in step S13 that no rudder is present, the simulator 30 moves the processor to step S11 to receive the rudder status information.

As a result of the determination in step S13, if there is one rudder that has failed, the simulator 30 selects the maximum allowable steering angle of the rudder that can be straight-forwarded (S15). The maximum permissible steering angle is calculated from the longitudinal and transverse forces of the ship calculated by the following formulas and the yaw moment of the ship, by changing the permissible angle of the rudder from -35 degrees to +35 degrees by 1 degree. And the velocity is calculated by integrating the calculated acceleration, and the calculated velocity is integrated based on the movement trajectory reflecting the movement amount.

The simulator 30 determines whether the steering angle of the failed rudder is within the maximum allowable steering angle (S17).

If it is determined in step S17 that the steering angle of the failed rudder is not within the maximum allowable steering angle, that is, when the steering angle of the failed rudder exceeds the maximum allowable steering angle, the simulator 30 outputs notification information S20).

If it is determined in step S17 that the steering angle of the failed rudder is within the maximum permissible steering angle, the simulator 30 determines whether or not the rudder of the rudder has a failure rudder as shown in FIG. 6 through the calculated acceleration, The distance ADVANCE, the movement distance TRANSFER, and the tactical diameter (TACTICAL DIAMETER) are calculated (S19).

The simulator 30 outputs the maximum turning radius including the calculated forward distance, the moving distance and the tactical diameter on the display unit 40 (S21). Figure 7 shows the maximum turn radius well.

Thereafter, the simulator 30 calculates an instruction angle for straight forward (S23).

The simulator 30 provides the calculated command steering angle to another controller 20 (S25).

The other controller 20 applies the received command steering angle to the normal running rudder.

In this way, if one rudder of a pair of rudders installed on the ship fails, the stability of the ship can be evaluated by selecting the maximum allowable rudder angle of the rudder. If the rudder of the rudder is located within the maximum permissible steering angle, It is possible to intuitively judge the stability of the ship and calculate the forward distance, the travel distance and the tactical diameter of the ship, thereby improving the stability of the ship through the maximum turning radius provided.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

10: rudder 20: other controller
25: environmental load sensor 30: simulator
31: Receiving unit 32:
33: calculation section 34:
35: supply unit 40: display unit

Claims (12)

Another controller for controlling a pair of rudders installed at the stern of the ship; And
And a simulator for receiving the status information of the rudder operated under the control of the other controller and selecting and providing the maximum allowable steering angle of the rudder capable of performing the straight running when there is one malfunctioning rudder having no change in the steering angle for a predetermined time Wherein the navigation device is a navigation device. The method according to claim 1,
The simulator calculates the yaw moment of the ship and the longitudinal and lateral forces of the ship while changing the permissible angle of the rudder to a predetermined angle at predetermined time intervals to calculate the acceleration of the ship, Calculates the amount of movement of the ship, and selects the maximum allowable steering angle that allows the ship to travel straight on the basis of the green moving locus. The method according to claim 1,
And a sensor installed on the ship for measuring a marine environment,
Wherein the simulator further calculates the yaw moment of the ship and the longitudinal and lateral forces of the ship, the yaw moment of the ship being further reflected by the environment information measured through the sensor. The method according to claim 1,
Wherein the simulator calculates the forward distance, the moving distance, and the tactical diameter of the ship when the steering angle of the failed rudder is within the maximum allowable steering angle, and outputs the calculation result on the display unit. The method of claim 4,
Wherein the simulator calculates an instruction steering angle for straight traveling of the ship within the forward distance, the moving distance, and the tactical diameter, and provides the calculated command angle to the other controller. The method according to claim 1,
Wherein the simulator outputs notification information indicating that the ship can not be straightened when the steering angle of the failed rudder deviates from the maximum allowable steering angle. A receiving unit for receiving status information of the rudder from another controller for controlling a pair of rudders installed at the stern of the ship;
A determination unit for determining whether there is a failure rudder that does not change the steering angle for a predetermined time based on the rudder status information received from the other controller;
The control unit may calculate the yaw moment of the ship and the longitudinal and transverse forces received by the ship while changing the allowable angle of the rudder preset to a predetermined angle when there is one rudder as a result of the determination, A calculation unit for calculating a speed and a movement amount;
A selection unit configured to select a maximum allowable steering angle of the rudder that can be operated in a straight line based on a moving trajectory generated through acceleration, speed and movement amount of the ship calculated by the calculation unit; And
And a providing unit for comparing the rudder angle of the failed rudder with the maximum allowable rudder angle to provide a straight running performance of the ship. Receiving a state information of a rudder from another controller for controlling a pair of rudders installed at the stern of a ship, respectively;
Determining whether a faulty rudder exists without change of the steering angle for a predetermined time based on state information of the ruder received from the other controller;
Wherein the simulator changes a permissible angle of a rudder preset to a predetermined angle when there is a single rudder as a result of the determination, and determines a yaw moment of the ship, Calculating an acceleration, a speed and a movement of the ship;
Selecting a maximum allowable steering angle of a rudder capable of straight traveling based on a movement locus generated through an acceleration, a speed and a movement amount of the ship calculated by the calculating step; And
Wherein the simulator includes a step of comparing the rudder angle of the malfunctioning rudder with the maximum permissible steering angle to provide the straight running performance of the ship. The method of claim 8,
Before the calculating step,
Wherein the simulator further comprises receiving environment information measured from a sensor installed on the ship and measuring a marine environment,
Wherein the calculating step calculates the yaw moment of the ship and the longitudinal and lateral forces received by the ship by reflecting the received environment information. The method of claim 8,
The providing step may include outputting the forward distance, the travel distance, and the tactical diameter of the ship calculated on the basis of the acceleration, the speed and the movement amount of the ship on the display unit when the steering angle of the failed rudder is located within the maximum allowable steering angle And providing the navigation performance of the ship using the navigation performance providing device. The method of claim 10,
Wherein the providing step includes providing the other controller with an instruction command for forward travel of the ship within the forward distance, the travel distance, and the tactical diameter. Way. The method of claim 8,
Wherein the providing step includes the step of outputting notification information indicating that the ship can not be straightened when the steering angle of the failed rudder is out of the maximum allowable steering angle. .

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